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Cost-Reduction Actions - Statement of Income Classifications (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Restructuring Cost and Reserve [Line Items]        
Cost-reduction charges and other costs $ 3.5 $ 3.1 $ 0.7 $ 6.1
Cost of revenue        
Restructuring Cost and Reserve [Line Items]        
Cost-reduction charges and other costs 2.8 0.8 3.4 3.5
Selling, general and administrative        
Restructuring Cost and Reserve [Line Items]        
Cost-reduction charges and other costs 0.5 0.5 0.5 (0.2)
Research and development        
Restructuring Cost and Reserve [Line Items]        
Cost-reduction charges and other costs 0.1 0.0 0.2 (0.1)
Other (expense), net        
Restructuring Cost and Reserve [Line Items]        
Cost-reduction charges and other costs $ 0.1 $ 1.8 $ (3.4) $ 2.9